A mechanical gimbal system to be used on a vehicle, enabling the vehicle to carry a payload in a lopsided position, comprising four linkages contiguous to each other pivotally connected by four rotating joints, such that
- a. a first link is nominally positioned horizontally and parallel to a lateral axis of the vehicle, with sufficient length to connect the payload in a lopsided position in relation to the vehicle's vertical center line, the first link comprising;
- i. a payload attachment point at one end of the first link, designed to mechanically connect said payload in the lopsided position
- ii. a fulcrum joint located on said first link at approximately two-thirds length from the payload attachment point
- iii. a first pivot joint located at an end opposite of the said payload attachment point on the first link, configured to convert a force vector with at least one force component that is orthogonal to the first link causing a rotational torque about the fulcrum point
- b. a second link with a length that is approximately one-half that of the first link, the second link nominally oriented at substantially 30 degrees in relation to the first link's lateral axis, so that one end of the second link is pointing downwards, the second link comprising;
- i. a first rigid attachment point at the downward pointing end of the link, designed to mechanically connect to a piece of equipment
- ii. a second pivot joint located at the upward pointing end of the link, configured to enable the second link to rotate with a range from about 45 degrees above horizontal to about 90 degrees below horizontal
- iii. a third pivot joint located at the one-half span of the second link, designed to receive a force such that said force has reduced mechanical advantage in applying rotational energy on the said second link about the second pivot joint at the upward pointing end of the second link
- c. a third link, comprising;
- i. a second rigid attachment joint attached to the vehicle in an orientation such that the third link is parallel with the vehicle's vertical axis, and configured to transfer forces of the said gimbal system to the vehicle
- ii. a fourth pivot joint positioned near half of the span of the third link, configured to pivotally support the fulcrum joint of the first link
- iii. a fifth pivot joint, configured to support the second pivot joint at the upward pointing end of the second link
- d. wherein the piece of vehicle equipment being of sufficient mass and designed to attach to the second link at the first rigid attachment point, is configured to generate a rotational energy using gravitational force about the second pivot joint located at the upward pointing end of the second link
- e. a fourth link with pivot joints on both ends of the fourth link is configured to transfer the rotational energy from the second link to the first pivot joint thereby absorbing the rotational energy about the first link's fulcrum joint of the payload when the payload is in a lopsided position
- f. the pivot joints all constrain the four links to rotate with respect to each other in parallel planes
- g. a rotational motion of one the said links causes a movement in all other of the said links
- h. any continuous pair of the four links form an angle that is different from any other pair within the said gimbal system at any instant, thereby modulating the force transferred through the fourth link, returning the said first link's orientation back to the nominal horizontal orientation
- Whereby the said gimbal system enables a vehicle to attach a heavy payload in a lopsided position using substantially lighter equipment as counter balancing weight, and to absorb external perturbation to the payload in the lopsided position or to any part of the said gimbal system without additional measures of actuation.